Multifunctional intelligent charging end effector and charging method

Abstract

The application discloses a multifunctional intelligent charging end effector and a charging method, which comprise a robot arm and a charging gun, and further comprise a connecting part connected to the output end of the robot arm, one end of the connecting part being connected with a gripper unit and the other end being connected with a mechanical finger; a station switching mechanism is arranged on the connecting part, and the charging gun is arranged in the gripper unit; a first visual unit is arranged on the gripper unit, and a second visual unit is arranged on the mechanical finger. The multifunctional intelligent charging end effector can continuously complete the operations of opening the outer cover of the charging port, opening or taking out the inner cover, inserting the charging gun, pulling out and resetting the charging gun after charging, and the like on the same end structure. Through the linkage relationship between the charging gun clamping structure and the locking button, the rigid clamping of the charging gun by the robot arm can be released after the gun insertion is completed, so that the charging gun is prevented from being simultaneously connected with the robot arm and the vehicle body in a double rigid manner, and the damage risk caused by accidental disturbance is reduced.

Description

Technical Field

[0001] This invention relates to the field of robot end effector manufacturing technology, and more specifically to a multifunctional intelligent charging end effector. Background Technology

[0002] With the popularization of new energy vehicles, automated charging robots have become key equipment for improving the operational efficiency of charging stations and the user experience. Charging operation is a complex process involving multiple consecutive objects, including: spring-loaded or manual charging port outer cover, plug-type or screw-type charging port inner cover, and standard charging gun.

[0003] According to utility model patent application CN222388026U, published on January 24, 2025, an automatic charging gripping device is disclosed, comprising: a gripping mechanism including a driving component and a clamping component pulsatingly connected to the driving component; two clamping components are arranged opposite to each other, and the two clamping components are adapted to move towards or away from each other under the drive of the driving component; a charging gun including a gun body, with recessed portions adapted to the clamping components near the middle section of the gun body, the recessed portions being located on both sides of the gun body to correspond one-to-one with the clamping components; wherein, the clamping portions of both clamping components are provided with positioning pins, and the recessed portions are provided with positioning holes corresponding to the positioning pins; the two clamping components respectively clamp different recessed portions in response to moving towards each other, and the positioning pins are inserted into the positioning holes. Its main technical advantages are: the charging gun is gripped smoothly and accurately during the process, with high insertion and removal precision, and it is not easy to damage the charging gun.

[0004] Existing end effectors are mostly designed for single objects (such as only grasping the charging gun or only involving opening the charging cover of new energy vehicles). This leads to frequent tool changes or reliance on manual assistance when performing the entire charging process, severely affecting the continuity and efficiency of the automated process. Furthermore, in existing technologies, during the charging process where the end effector grasps the charging gun and remains plugged into the new energy vehicle, the robot arm, end effector, charging gun, and new energy vehicle are all rigidly connected. When the vehicle experiences unexpected disturbances, parking position deviations, elastic displacement of the vehicle body, or external collisions, the charging gun, charging port, robot arm end effector, or gripping mechanism can easily be damaged, posing safety and reliability risks. Therefore, this paper proposes a multi-functional intelligent charging end effector to address the problems of existing automated charging robot end effectors, such as the need for frequent tool changes or reliance on manual assistance when performing the entire charging process, low charging efficiency, and the susceptibility to damage under unexpected disturbances due to the rigid connection between the end effector, charging gun, and charging port after plugging in the charging gun. Summary of the Invention

[0005] The purpose of this invention is to provide a multifunctional intelligent charging end effector, which aims to solve the problems of existing end tools having limited functions, difficulty in covering the complete automatic charging process, and the fact that the charging gun is continuously subjected to the dual rigid constraints of the robot arm and the robot body after being plugged in, making it prone to damage under unexpected disturbances.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A multifunctional intelligent charging end effector includes a robotic arm and a charging gun, wherein the charging gun is equipped with a locking button, and is characterized in that it further includes: A connecting part is connected to the output end of the robot arm. One end of the connecting part is connected to a gripper unit, and the other end is connected to a mechanical finger. The connecting part is provided with a station switching mechanism, which drives the connecting part to rotate, so that the connecting part switches between the following two stations: Workstation 1: Operation station. At this time, the mechanical finger is in a horizontal position. The control unit controls the robot arm and mechanical finger to complete the action of opening the charging outer cover and charging inner cover. Station 2: Charging station. At this time, the gripper unit is in a horizontal position. The robot arm drives the gripper unit to move, inserting the charging gun into the charging interface or removing the charging gun from the charging interface. The gripper unit is provided with a first vision unit, and the mechanical finger is provided with a second vision unit; The gripper unit includes a housing, a drive block movably disposed within the housing, and a drive unit disposed between the housing and the drive block. The charging gun is movably disposed within the housing. The drive unit is used to drive the drive block to slide within the housing, causing the charging gun to abut against the housing, thus placing the charging gun in a clamping or releasing state. When the charging gun is in the clamping state, the drive block abuts against the locking button, thus placing the charging gun in an unlocked state. When the charging gun is in the releasing state, the drive block separates from the locking button, causing the locking button to reset, and enabling the charging gun to be locked by the vehicle-side locking mechanism after it is inserted into the vehicle charging interface.

[0007] Preferably, a connecting flange is connected to the connecting part, and the connecting flange is connected to the connecting part through a station switching mechanism. The gripper unit also includes a positioning block, a locking block, and a driving block. The driving block is slidably connected to the housing, and the driving unit is disposed between the housing and the driving block. The positioning block and the locking block are both fixedly connected to the charging gun housing, and the charging gun is slidably connected to the housing through the positioning block and the locking block.

[0008] Preferably, the mechanical finger includes a housing, a rotation drive motor, and a finger unit. The rotation drive motor is connected to the connecting part, the output end of the rotation drive motor is connected to the housing, and the finger unit is disposed at one end of the housing.

[0009] Preferably, the drive unit includes a coil and a spring, the locking block has a clearance groove, the locking button is located in the clearance groove, an abutment protrusion is provided on one side of the outer wall of the drive block, the coil is provided on the other side of the outer wall of the drive block, and the spring is provided between the outer shell and the drive block.

[0010] Preferably, the workstation switching mechanism is disposed on the connecting part, the workstation switching mechanism includes a servo motor and an output shaft, the servo motor is disposed on the connecting flange, the output shaft is drivenly connected to the output end of the servo motor, and the output shaft is connected to the mechanical finger.

[0011] Preferably, the finger unit includes an opening and closing drive motor, a worm gear, and a clamping rod. The opening and closing drive motor is fixedly disposed inside the housing, the worm gear is fixedly installed at the output end of the opening and closing drive motor, one end of the clamping rod is slidably connected to the housing, and a toothed structure is provided on the outer wall of the end of the clamping rod located inside the housing, the toothed structure meshing with the worm gear.

[0012] A charging method for the aforementioned multifunctional intelligent charging end effector includes the following steps: The control unit controls the robot arm to move the connecting part and identifies the vehicle charging cover through the second vision unit connected to the finger unit. The robotic arm drives the connecting part to move, so that the gripping rod of the finger unit comes into contact with the charging cover and presses the charging cover. After pressing, the robotic arm drives the connecting part to move, so that the gripping rod of the finger unit separates from the charging cover. After the outer charging cover is opened, the robotic arm drives the connecting part to move, and the second vision unit installed on the outside of the finger unit detects the vehicle charging inner cover inside the outer charging cover. When the second vision unit detects a knob-type charging inner cover, the control unit controls the finger unit to merge and inserts the merged finger unit into the knob-type charging inner cover, so that the finger unit is inserted into the knob-type charging inner cover. The rotation drive motor drives the shell to rotate and open the knob-type charging inner cover. When the second vision unit detects a plug-in charging inner cover, the plug-in charging inner cover is held by the finger unit, and the connecting part is moved by the robot arm to remove the plug-in charging inner cover. After removing the charging inner cover, the connecting part is rotated by the robot arm, causing the gripper unit and mechanical fingers to rotate. The position of the charging hole is detected by the first vision unit set on the gripper unit. The control unit controls the robot arm to drive the connecting part, so that the charging gun in the gripper unit is connected to the charging port. When the charging gun is not inserted into the charging port, the drive unit drives the drive block to abut against the locking button, keeping the charging gun locked to the outer shell. At this time, the charging gun is in the unlocked state, and the robot arm inserts the charging gun into the charging port of the new energy vehicle. After the charging gun is inserted into the charging interface, the drive unit drives the drive block to separate from the locking button, so that the charging gun and the outer shell remain movable. When the locking button is reset, the charging gun and the charging interface remain locked. Therefore, after the charging gun is inserted into place, the end effector can release the rigid clamp on the charging gun and keep the charging gun connected by the vehicle-side locking mechanism; when it is necessary to remove the gun, the end effector re-clamps the charging gun and simultaneously presses down the locking button, so that the charging gun can be unlocked and pulled out. After charging is complete, the control unit controls the drive unit to drive the drive block to abut the locking button, so that the charging gun is in the unlocked state. The control unit controls the robot arm to drive the connecting part to move, so that the charging gun is separated from the charging interface. The control unit then controls the mechanical finger to reset the charging port inner cover; The control unit controls the robot arm and mechanical fingers to reset the charging port cover; The robot arm is reset.

[0013] The multifunctional intelligent charging end effector provided by the present invention, as described above, has the following beneficial effects: By setting the linkage between the charging gun clamping state and the locking button state, when it is necessary to insert or remove the charging gun, the end effector can clamp the charging gun and simultaneously unlock the locking button, which makes it easy for the robot arm to drive the charging gun to be inserted and removed in a controlled manner. After the charging gun is inserted into place, the end effector can release the action of the locking button, so that the charging gun is locked by the vehicle-side locking mechanism. This reduces or avoids the charging gun being subject to the dual rigid constraints of the robot arm and the vehicle body at the same time, and reduces the risk of damage to the charging gun, charging interface and robot arm caused by unexpected vehicle disturbances, parking deviations or external collisions. By integrating a gripper unit, robotic fingers, a workstation switching mechanism, and a first vision unit and a second vision unit on the same connection part, the automatic operation of three objects—the charging port outer cover, the charging port inner cover, and the charging gun—can be completed continuously on the same end effector without the need for frequent changes of end tools, thereby improving the system integration and automation level. The station switching mechanism enables the end effector to switch between the operation station and the charging station. Combined with actions such as outer cover recognition, inner cover recognition, inner cover opening or removal, charging gun alignment and insertion, unplugging after charging, and cover reset, a complete closed-loop automatic charging process can be realized, integrating multiple discrete steps into a single continuous task, improving the continuity of the charging process and the efficiency of operation. By combining mechanical fingers, a vision recognition unit, and corresponding control methods, it can adapt to different structural forms such as knob-type charging inner covers and plug-type charging inner covers, and improve the accuracy of charging port positioning, plug-in control, and reset operation, thereby enhancing the system's adaptability to different vehicle models and different charging port structures. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0015] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the outer shell provided in an embodiment of the present invention; Figure 3 A schematic diagram of the internal planar structure of the outer shell provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of the housing provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the coil installation position provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the tooth-shaped structure provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the workstation switching mechanism provided in an embodiment of the present invention.

[0016] Explanation of reference numerals in the attached figures: 1. Connecting part; 11. Connecting flange; 2. Gripper unit; 21. Housing; 22. Positioning block; 23. Locking block; 24. Drive block; 25. Spring; 26. Abutting protrusion; 27. Coil; 3. Mechanical finger; 31. Housing; 32. Rotation drive motor; 33. Finger unit; 331. Opening and closing drive motor; 332. Worm gear; 333. Clamping rod; 334. Toothed structure; 4. Station switching mechanism; 41. Servo motor; 42. Output shaft; 5. Charging gun; 51. Locking button; 6. First vision unit; 7. Second vision unit; 8. Drive unit. Detailed Implementation

[0017] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0018] Please see Figures 1-7A multifunctional intelligent charging end effector includes a robotic arm and a charging gun 5, wherein the charging gun 5 is provided with a locking button 51, and further includes: Connecting part 1, the connecting part 1 is connected to the output end of the robot arm, one end of the connecting part 1 is connected to the gripper unit 2, and the other end is connected to the mechanical finger 3; The connecting part 1 is provided with a station switching mechanism 4, which drives the connecting part 1 to rotate, so that the connecting part 1 switches between the following two stations: Workstation 1: Operation workstation. At this time, the mechanical finger 3 is in a horizontal position. The robot arm and mechanical finger 3 are controlled by the control unit to complete the action of opening the charging outer cover and the charging inner cover. Station 2: Charging station. At this time, the gripper unit 2 is in a horizontal position. The robot arm drives the gripper unit 2 to move, inserting the charging gun 5 into the charging interface or removing the charging gun 5 from the charging interface. The gripper unit 2 is provided with a first vision unit 6, and the mechanical finger 3 is provided with a second vision unit 7; The gripper unit 2 includes a housing 21, a drive block 24 movably disposed within the housing 21, and a drive unit 8 disposed between the housing 21 and the drive block 24. The charging gun 5 is movably disposed within the housing 21. The drive unit 8 is used to drive the drive block 24 to slide within the housing 21, causing the charging gun 5 to abut against the housing 21, thus placing the charging gun 5 in a clamping or releasing state. When the charging gun 5 is in the clamping state, the drive block 24 abuts against the locking button 51, thus placing the charging gun 5 in an unlocked state. When the charging gun 5 is in the releasing state, the drive block 24 separates from the locking button 51, thus placing the charging gun 5 in a locked state.

[0019] As an embodiment of the present invention, it includes a connecting part 1, with a gripper unit 2 connected to one end of the connecting part 1 and a mechanical finger 3 connected to the other end. The gripper unit 2 is equipped with a charging gun 5. The connecting part 1 is also equipped with a connecting flange 11 and a workstation switching mechanism 4. The connecting flange 11 is connected to the connecting part 1 through the workstation switching mechanism 4, and at the same time, the connecting part 1 can be connected to the robot arm through the connecting flange 11. The robot arm drives the connecting part 1 to move, and the mechanical finger 3 connected to the connecting part 1 can open the charging cover of the new energy vehicle. The charging gun 5 of the gripper unit 2 can be inserted into the charging port of the new energy vehicle by driving the connecting part 1 to move.

[0020] The end effector provided in this embodiment of the invention has the following two workstations during use: Workstation 1: Operation workstation. At this time, the mechanical finger 3 is in a horizontal position. The robot arm and mechanical finger 3 are controlled by the control unit to complete the action of opening the charging outer cover and the charging inner cover. Station 2: Charging station. At this time, the gripper unit 2 is in a horizontal position. The robot arm drives the gripper unit 2 to move, inserting the charging gun 5 into the charging interface or removing the charging gun 5 from the charging interface. The station switching mechanism 4 enables the end effector to switch between station one and station two.

[0021] By setting the linkage between the clamping state of the charging gun 5 and the state of the locking button 51, when it is necessary to insert or remove the gun, the end effector can clamp the charging gun 5 and simultaneously unlock the locking button 51, which makes it easy for the robot arm to drive the charging gun 5 to be inserted and removed in a controlled manner. After the charging gun 5 is inserted into place, the end effector can release the action of the locking button 51, so that the charging gun 5 is locked by the vehicle-side locking mechanism, thereby reducing or avoiding the charging gun 5 being subjected to dual rigid constraints from the robot arm and the vehicle body at the same time, reducing the risk of damage to the charging gun 5, charging interface and robot arm caused by unexpected vehicle disturbances, parking deviations or external collisions. By integrating the gripper unit 2, mechanical finger 3, workstation switching mechanism 4, first vision unit 6, and second vision unit 7 on the same connection part, the automatic operation of three objects—charging port outer cover, charging port inner cover, and charging gun—can be completed continuously on the same end effector without frequent changes of end tools, thereby improving the system integration and automation level. The station switching mechanism 4 enables the end effector to switch between the operation station and the charging station. Combined with actions such as outer cover recognition, inner cover recognition, inner cover opening or removal, charging gun 5 alignment and insertion, charging end removal and cover reset, a complete closed-loop automatic charging process can be realized, integrating multiple discrete steps into a single continuous task, improving the continuity of the charging process and work efficiency. With the cooperation of mechanical finger 3 and second vision unit 7 and corresponding control methods, it can adapt to different structural forms such as knob-type charging inner cover and plug-type charging inner cover, and improve the accuracy of charging port positioning, gun insertion control and reset operation, thereby enhancing the system's adaptability to different vehicle models and different charging port structures.

[0022] It should be noted that the structure for locking the charging gun 5 on the vehicle side is a conventional technology in the prior art, so it will not be described in detail here. The double rigid constraint means that the end effector and the charging gun 5 are rigidly connected, and the charging gun 5 and the vehicle-side locking mechanism are also rigidly connected. In this case, accidental disturbances to the vehicle will cause the charging gun 5, the end effector, and even the robot arm to move, thereby causing damage.

[0023] The robotic arm connects to the connecting part 1, allowing the gripper unit 2 and the mechanical finger 3 to be simultaneously attached to the robotic arm. Integrating the gripper unit 2 with the charging gun 5 and the mechanical finger 3, which performs the opening and closing of the charging port, onto the robotic arm significantly improves the efficiency of the robotic arm's operation in charging new energy vehicles. The robotic arm drives the gripper unit 2 and the mechanical finger 3 to move, enabling the mechanical finger 3 to perform complex operations such as opening and closing the charging cover. The robotic arm also drives the connecting part 1 to maintain the connection between the charging gun 5 within the gripper unit 2 and the charging port, thus completing the charging process. The robotic arm can flexibly switch between the gripper operation station and the charging gun operation station. By integrating the gripper unit 2 and the mechanical finger 3, a single machine can complete the charging operation for new energy vehicles. This single machine can perform the entire set of operations, from opening the outer cover and removing the inner cover to inserting and locking the charging gun 5, with a smooth and efficient process. It truly achieves continuous and automatic operation of the three core objects: the outer cover, the inner cover, and the charging gun 5, integrating multiple discrete steps into a single automated task. When the charging gun 5 needs to be inserted, it is rigidly connected to the end effector, which allows the robot arm to drive the end effector and the internally held charging gun 5 to move, so that the charging gun 5 can be safely and controllably inserted into the charging interface. During the charging process, the charging gun 5 is locked to the charging interface, while the charging gun 5 is movable to the end effector. When the vehicle is unexpectedly disturbed, it can prevent the movement of the charging gun 5 from causing damage to the end effector and the charging interface. It can avoid the situation where the charging gun 5 is in a double rigid connection state with the charging interface and the robot arm during the charging process, thereby preventing damage to the charging gun 5, the charging interface and the robot arm due to unexpected disturbances.

[0024] As a further embodiment provided by the present invention, such as Figure 7 As shown, a workstation switching mechanism 4 is also provided on the connecting part 1. The workstation switching mechanism 4 includes a servo motor 41 and an output shaft 42. The output shaft 42 is connected to the output end of the servo motor 41. The servo motor 41 is mounted on the connecting flange 11. The output shaft 42 is connected to the connecting part 1. The servo motor 41 drives the output shaft 42 to rotate so that the connecting part 1 keeps rotating.

[0025] It also includes a reducer, which can be connected to the output end of the servo motor 41. The output shaft 42 is connected to the output end of the reducer. The servo motor 41 is mounted on the connecting flange 11, and the output shaft 42 is connected to the connecting part 1. The output shaft 42 is driven to rotate by the servo motor 41 and the reducer so that the connecting part 1 keeps rotating.

[0026] By setting a station switching mechanism 4 on the connecting part 1, the connecting part 1 connected to the end of the robot arm can be actively rotated, thereby realizing the switching between the mechanical finger 3 and the gripper unit 2, and flexibly switching between the charging station and the operating station of the end effector.

[0027] As an embodiment provided by the present invention, such as Figure 2 , Figure 3 and Figure 5 As shown, the gripper unit 2 includes a housing 21, a positioning block 22, a locking block 23, and a drive block 24. The drive block 24 is slidably disposed inside the housing 21. The gripper unit 24 is slidably connected within the housing 21, allowing the charging gun 5 to undergo small displacements or gap movements relative to the housing 21 within a limited range after the charging gun 5 is inserted and the gripper unit 2 releases the charging gun 5. This reduces the rigid transmission of vehicle disturbances to the end effector. A drive unit 8 is disposed between the drive block 24 and the inner wall of the housing 21, driving the drive block 24 to move within the housing 21. The positioning block 22 and the locking block 23 are both fixedly mounted on the outer wall of the charging gun 5, and are movably disposed within the housing 21, maintaining a movable connection between the charging gun 5 and the housing 21. This movable connection is a non-rigid constraint connection, allowing the charging gun 5 to undergo small displacements or gap movements relative to the housing 21 within a predetermined range, thus reducing the rigid transmission of vehicle-side disturbances to the robot arm. It should be noted that the inner cavity shape of the positioning block 22 and the locking block 23 can be designed according to the shape of the charging gun 5 to adapt to different models of charging guns 5 on the market. The outer shell 21 can adopt a split structure and be assembled with screws to ensure that the charging gun 5 can be installed inside the outer shell 21.

[0028] A locking button 51 is provided on the charging gun 5. By pressing the locking button 51, the charging gun 5 can be locked to the charging port of the new energy vehicle. It should be noted that the specific structure and working principle of the locking button 51 are existing technologies and will not be described in detail here.

[0029] A slot is provided on the outer wall of one side of the locking block 23 to avoid the locking button 51. The locking button 51 of the charging gun 5 is located in the slot. One end of the locking block 23 has a wedge-shaped structure. An abutment protrusion 26 is provided on the outer wall of one side of the driving block 24. The end of the abutment protrusion 26 has a wedge-shaped structure, which matches the wedge-shaped structure of the locking block 23. When the driving block 24 moves toward the locking block 23, the abutment protrusion 26 on the driving block 24 abuts against the locking button 51 on the charging gun 5, causing the locking button 51 to fall down. At this time, the charging gun 5 is in the unlocked state and can be inserted and removed. When the driving block 24 moves away from the locking block 23, the abutment protrusion 26 separates from the locking button 51 on the charging gun 5, making the charging gun 5 in the locked state, and the charging gun 5 cannot be inserted and removed.

[0030] As one embodiment of the driving unit 8 provided by the present invention, the driving unit 8 includes a coil 27 and a spring 25. The coil 27 is disposed at the end of the driving block 24 away from the abutting protrusion 26. Specifically, the coil 27 is an electromagnetic driving coil, which generates a magnetic field after being energized, and drives the driving block to move by cooperating with the driving block or a corresponding magnetic component. When the coil 27 is energized, the coil 27 generates magnetism. When the coil 27 generates magnetism, it can drive the driving block 24 to move to one side inside the outer casing 21. Furthermore, a spring is provided between the driving block 24 and the outer casing 21. 25. Under normal conditions, the elasticity of the spring 25 drives the drive block 24 towards the locking block 23, causing the abutment protrusion 26 to abut against the locking button 51. The coil 27 remains electrically connected to the external power supply. When the coil 27 is energized, it generates magnetism. Specifically, after the coil 27 generates magnetism, it drives the drive block 24 away from the locking block 23. While the drive block 24 is moving, it can compress the spring 25. At this time, the abutment protrusion 26 on the drive block 24 separates from the locking button 51 on the charging gun 5. The locking button 51 then pops up, and the charging gun 5 remains locked to the charging port. The coil 27 is a conventional electromagnetic coil in the prior art, which generates magnetism when energized. Its specific principle and structure will not be described in detail here.

[0031] As another embodiment of the drive unit 8 provided by the present invention, the drive unit 8 can be a component or mechanical structure such as an electric cylinder or an electric push rod that can drive the drive block 24 to maintain reciprocating motion within the housing 21.

[0032] As another embodiment of the driving unit 8 provided by the present invention, the driving unit 8 can be at least one of an electromagnetic driving member, a linear driving member, and an elastic reset member, used to drive the driving block to reciprocate.

[0033] Preferably, the drive unit 8 is any one of an electric push rod, an electric push cylinder, an electromagnet, or an electromagnetic coil.

[0034] In standby mode, the gripper unit 2 holds the charging gun 5, and the drive mechanism 8 drives the drive block 24 to abut against the locking button 51, so that the charging gun 5 is in a pluggable unlocked state. After the charging gun 5 is plugged in, the drive unit 8 drives the drive block 24 to separate from the locking button 51. The gripper unit 2 and the charging gun 5 are in an active state, and the charging gun 5 and the charging interface are locked. During the charging process, the robot arm and the end effector do not apply rigid constraints to the charging gun 5, reducing the transmission of vehicle disturbances to the robot arm and the end effector.

[0035] When it is necessary to plug or unplug the charging gun 5, the drive unit 8 drives the drive block 24 to re-engage with the locking button 51, so that the charging gun 5 is locked to the outer casing 21 and the charging gun 5 is in the unlocked state.

[0036] A first visual unit 6 is provided on the outer wall of the outer shell 21. Specifically, the first visual unit 6 is a camera. The control unit can identify the environmental conditions through the first visual unit 6 and control the movement of the robotic arm. The first visual unit 6 is used to identify the position of the charging interface.

[0037] As a further embodiment provided by the present invention, as Figure 4 and Figure 6 shown, the mechanical finger 3 includes a housing 31, a rotation drive motor 32 and a finger unit 33. The finger unit 33 is provided at one end of the housing 31. The rotation drive motor 32 is connected to the connecting portion 1. The output end of the rotation drive motor 32 is connected to the housing 31. By the rotation of the output end of the rotation drive motor 32, the housing 31 can be driven to rotate.

[0038] As a further embodiment provided by the present invention, as Figure 6 shown, the finger unit 33 includes an opening and closing drive motor 331, a worm 332 and a clamping rod 333. The opening and closing drive motor 331 is fixedly installed on the inner wall of one side of the housing 31. The worm 332 is fixedly installed on the output end of the opening and closing drive motor 331. The clamping rod 333 is integrally in an "L" - shaped structure. One end of the "L" - shaped structure of the clamping rod 333 is slidably connected to the housing 31, and one end of the clamping rod 333 is located inside the housing 31. A tooth - shaped structure 334 is provided on the outer wall of the end of the clamping rod 333 located inside the housing 31. The tooth - shaped structure 334 meshes with the worm 332. By the opening and closing drive motor 331, the worm 332 can be driven to rotate. When the worm 332 rotates, the tooth - shaped structure 334 can be driven to move, and then the clamping rod 333 can be driven to move on the housing 31.

[0039] A groove is provided at one end of the "L" - shaped structure of the clamping rod 333 for fitting the plug - type charging inner cover, so that the clamping rod 333 can grasp the plug - type charging inner cover and, through the movement of the robotic arm, remove the plug - type charging inner cover.

[0040] The symmetrically arranged finger units 33 enable the mechanical finger 3 to adapt to the knob - type charging inner cover and the plug - type inner cover. When encountering the knob - type charging inner cover, the control unit controls the opening and closing drive motors 331 of the finger units to drive the clamping rods 333 on both sides to move towards each other, so that the two clamping rods 333 can abut and merge to form a "|" state. At this time, it can be inserted into the knob - type charging inner cover, and the housing 31 is driven to rotate by the rotation drive motor 32 to remove the knob - type charging inner cover from the charging interface.

[0041] A second vision unit 7 is provided on the outer wall of the housing 31. As an embodiment of the present invention, the second vision unit 7 is a camera. The control unit can identify the environment through the second vision unit 7, which facilitates the control unit to control the robot arm. The second vision unit 7 is used to identify the form of the vehicle charging inner cover.

[0042] As a preferred embodiment of the present invention, there are two finger units 33, and the two finger units 33 are symmetrically arranged at one end of the housing 31.

[0043] The control unit controls the two opening and closing drive motors 331 to rotate simultaneously, which can drive the two clamping rods 333 to move towards each other or away from each other.

[0044] A soft rubber block is provided at the end of the clamping rod 333 away from the housing 31, which is used to directly contact the charging port cover of the vehicle body to prevent the clamping rod 333 from directly contacting the charging cover and causing damage to the charging cover.

[0045] A charging method applicable to the end effector of the above-mentioned multifunctional smart charger includes the following steps: The control unit controls the robot arm to move the connecting part 1, and identifies the vehicle charging cover through the second vision unit 7 connected to the finger unit 33. The robotic arm drives the connecting part 1 to move, so that the gripping rod 333 of the finger unit 33 comes into contact with the charging cover and presses the charging cover. After pressing, the robotic arm drives the connecting part 1 to move, so that the gripping rod 333 of the finger unit 33 separates from the charging cover. After the charging cover is opened, the robot arm drives the connecting part 1 to move, and the second vision unit 7 installed outside the finger unit 33 detects the vehicle charging inner cover inside the charging cover. When the second vision unit 7 detects a knob-type charging inner cover, the control unit controls the finger unit 33 to merge and inserts the merged finger unit 33 into the knob-type charging inner cover, so that the finger unit 33 is inserted into the knob-type charging inner cover. The rotation drive motor 32 drives the housing 31 to rotate and open the knob-type charging inner cover. When the second vision unit 7 detects a plug-in charging inner cover, the plug-in charging inner cover is held by the finger unit 33, and the connecting part 1 is moved by the robot arm to remove the plug-in charging inner cover. After removing the charging inner cover, the connecting part 1 is driven to rotate by the robot arm, causing the gripper unit 2 and mechanical finger 3 to rotate. The position of the charging hole is detected by the first vision unit 6 set on the gripper unit 2. The control unit controls the robot arm to drive the connecting part 1, so that the charging gun 5 in the gripper unit 2 is connected to the charging port. When the charging gun 5 is not inserted into the charging interface, the drive unit 8 drives the drive block 24 to abut against the locking button 51, so that the charging gun 5 and the outer shell 21 are locked. At this time, the charging gun 5 is in the unlocked state, and the robot arm inserts the charging gun 5 into the charging interface of the new energy vehicle. After the charging gun 5 is inserted into the charging interface, the drive unit 8 drives the drive block 24 to separate from the locking button 51, so that the charging gun 5 and the outer shell 21 remain movable. When the locking button 51 is reset, the charging gun 5 and the charging interface remain locked. After charging is completed, the control unit controls the drive unit 8 to drive the drive block 24 to abut against the locking button 51, so that the charging gun 5 is in the unlocked state. The control unit controls the robot arm to drive the connecting part 1 to move, so that the charging gun 5 is separated from the charging interface. The control unit then controls the mechanical finger 3 to reset the charging port inner cover; The control unit controls the robot arm and mechanical fingers to reset the charging port cover; The robot arm is reset.

[0046] By driving the drive block 24 to move inside the housing 21 through the drive unit 8, the end effector can achieve linkage control between the charging gun clamping state and the locking button state.

[0047] When the charging gun 5 is not inserted into the charging interface, the drive unit 8 drives the drive block 24 to abut against the locking button 51, so that the charging gun 5 and the outer shell 21 are locked. At the same time, since the drive block 24 abuts against the locking button 51, the charging gun 5 is in the unlocked state and can be inserted and removed, which makes it easy for the robot arm to insert the charging gun 5 into the charging interface of the new energy vehicle. When the charging gun 5 is inserted into the charging interface, the drive unit 8 drives the drive block 24 to separate from the locking button 51, so that the charging gun 5 and the outer shell 21 remain movable. Since the charging gun 5 has been inserted into the charging interface, when the locking button 51 is reset, the charging gun 5 and the charging interface remain locked to prevent the charging gun 5 from falling off during the charging process.

[0048] During continuous charging, the connection part 1 and the charging gun 5 are connected only through the outer shell 21, the positioning block 22, and the locking block 23, which can effectively isolate the influence of minor body shaking on the robot arm and improve the stability and reliability of the system in long-term operation.

[0049] It should be noted that after the charging inner cover is removed, it is always held by mechanical finger 3 so that it can be reset later.

[0050] The multifunctional intelligent charging end effector provided in this embodiment of the invention also includes other functional modules, such as electrical components, control units, etc., which should be known to those skilled in the art and will not be described in detail here.

[0051] Those skilled in the art will understand that other similar connection methods can also achieve the present invention. For example, welding, bonding, or screwing.

[0052] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multifunctional intelligent charging end effector, comprising a robotic arm and a charging gun (5), wherein the charging gun (5) is provided with a locking button (51), characterized in that, Also includes: Connecting part (1), the connecting part (1) is connected to the output end of the robot arm, one end of the connecting part (1) is connected to a gripper unit (2), and the other end is connected to a mechanical finger (3). The connecting part (1) is provided with a station switching mechanism (4), which drives the connecting part (1) to rotate, so that the connecting part (1) switches between the following two stations: Workstation 1: Operation workstation, at this time the mechanical finger (3) is in a horizontal position, and the robot arm and mechanical finger (3) are controlled by the control unit to complete the action of opening the charging outer cover and the charging inner cover; Workstation 2: Charging station. At this time, the gripper unit (2) is in a horizontal position. The robot arm drives the gripper unit (2) to move and insert the charging gun (5) into the charging interface or remove the charging gun (5) from the charging interface. The hand unit (2) is provided with a first vision unit (6), and the mechanical finger (3) is provided with a second vision unit (7). The gripper unit (2) includes a housing (21), a drive block (24) movably disposed within the housing (21), and a drive unit (8) disposed between the housing (21) and the drive block (24). The charging gun (5) is movably disposed within the housing (21). The drive unit (8) is used to drive the drive block (24) to slide within the housing (21), so that the charging gun (5) abuts against the housing (21), and the charging gun (5) is in a clamping or releasing state. When the charging gun (5) is in a clamping state, the drive block (24) abuts against the locking button (51), so that the charging gun (5) is in an unlocked state. When the charging gun (5) is in a releasing state, the drive block (24) separates from the locking button (51), so that the locking button (51) is reset, and the charging gun (5) can be locked by the vehicle-side locking mechanism after the charging gun (5) is inserted into the vehicle charging interface.

2. The multifunctional intelligent charging end effector according to claim 1, characterized in that, A connecting flange (11) is connected to the connecting part (1). The connecting flange (11) is connected to the connecting part (1) through the station switching mechanism (4). The gripper unit (2) also includes a positioning block (22), a locking block (23) and a driving block (24). The driving block (24) is slidably connected to the shell (21). The driving unit (8) is disposed between the shell (21) and the driving block (24). The positioning block (22) and the locking block (23) are both fixedly connected to the shell of the charging gun (5). The charging gun (5) is slidably connected to the shell (21) through the positioning block (22) and the locking block (23).

3. The multifunctional intelligent charging end effector according to claim 1, characterized in that, The mechanical finger (3) includes a housing (31), a rotation drive motor (32) and a finger unit (33). The rotation drive motor (32) is connected to the connecting part (1), the output end of the rotation drive motor (32) is connected to the housing (31), and the finger unit (33) is disposed at one end of the housing (31).

4. The multifunctional intelligent charging end effector according to claim 2, characterized in that, The drive unit (8) includes a coil (27) and a spring (25). The locking block (23) has a clearance groove, and the locking button (51) is located in the clearance groove. The outer wall of one side of the drive block (24) has an abutment protrusion (26). The coil (27) is located on the outer wall of the other side of the drive block (24). The spring (25) is located between the outer shell (21) and the drive block (24).

5. The multifunctional intelligent charging end effector according to claim 2, characterized in that, The workstation switching mechanism (4) is mounted on the connecting part (1). The workstation switching mechanism (4) includes a servo motor (41) and an output shaft (42). The servo motor (41) is mounted on the connecting flange (11). The output shaft (42) is connected to the output end of the servo motor (41). The output shaft (42) is connected to the connecting part (1).

6. The multifunctional intelligent charging end effector according to claim 3, characterized in that, The finger unit (33) includes an opening and closing drive motor (331), a worm gear (332), and a clamping rod (333). The opening and closing drive motor (331) is fixedly installed inside the housing (31). The worm gear (332) is fixedly installed at the output end of the opening and closing drive motor (331). One end of the clamping rod (333) is slidably connected to the housing (31). A toothed structure (334) is provided on the outer wall of the end of the clamping rod (333) inside the housing (31). The toothed structure (334) meshes with the worm gear (332).

7. A charging method for the multifunctional intelligent charging end effector described in claims 1-6, characterized in that, Includes the following steps: The control unit controls the robot arm to drive the connecting part (1) to move, and identifies the vehicle charging cover through the second vision unit (7) connected to the finger unit (33); The robot arm drives the connecting part (1) to move, so that the gripping rod (333) of the finger unit (33) comes into contact with the charging cover and presses the charging cover. After pressing, the robot arm drives the connecting part (1) to move, so that the gripping rod (333) of the finger unit (33) separates from the charging cover. After the charging cover is opened, the robot arm drives the connecting part (1) to move, and the second vision unit (7) installed outside the finger unit (33) detects the vehicle charging inner cover inside the charging cover; When the second vision unit (7) detects the knob-type charging inner cover, the control unit controls the finger unit (33) to merge and inserts the merged finger unit (33) into the knob-type charging inner cover, so that the finger unit (33) is inserted into the knob-type charging inner cover. The control unit drives the housing (31) to rotate by rotating the drive motor (32) to open the knob-type charging inner cover. When the second vision unit (7) detects a plug-type charging inner cover, the plug-type charging inner cover is held by the finger unit (33), and the connecting part (1) is moved by the robot arm to remove the plug-type charging inner cover. After removing the charging inner cover, the connecting part (1) is driven to rotate by the robot arm, causing the gripper unit (2) and mechanical finger (3) to rotate. The position of the charging hole is detected by the first vision unit (6) set on the gripper unit (2). The control unit controls the robot arm to drive the connecting part (1), so that the charging gun (5) in the gripper unit (2) is connected to the charging port; When the charging gun (5) is not inserted into the charging interface, the drive unit (8) drives the drive block (24) to abut against the locking button (51) so that the charging gun (5) and the outer shell (21) are locked. At this time, the charging gun (5) is in the unlocked state. The robot arm inserts the charging gun (5) into the charging interface of the new energy vehicle. After the charging gun (5) is inserted into the charging interface, the drive unit (8) drives the drive block (24) to separate from the locking button (51), so that the charging gun (5) and the outer shell (21) remain movable. When the locking button (51) is reset, the charging gun (5) and the charging interface remain locked. After charging is completed, the control unit controls the drive unit (8) to drive the drive block (24) to abut against the locking button (51), so that the charging gun (5) is in the unlocked state. The control unit controls the robot arm to drive the connecting part (1) to move, so that the charging gun (5) is separated from the charging interface. The control unit then controls the mechanical finger (3) to reset the inner cover of the charging port; The control unit controls the robot arm and mechanical fingers (3) to reset the charging port cover; The robot arm is reset.

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